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/*********************************************************************

 *

 *                  CAN.c header file

 *

 *********************************************************************

 * FileName:        CAN.h

 *

 * Author               Date    Comment

 *~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~

 * Johan Böhlin     21-10-06    Original        (Rev 1.0)

 ********************************************************************/

// $Id: CAN.h 80 2006-11-11 20:22:39Z johboh $

#ifndef CAN_H

#define CAN_H

#include <CANdefs.h>

#include <compiler.h>

#include <typedefs.h>

typedef struct _CAN_PROTO_MESSAGE

{

    BYTE funct; //4

    WORD funcc; //10

    BYTE nid; //6

    WORD sid; //9

    BYTE data_length;//5

    BOOL remote_request; //1

    BYTE data[8];

} CAN_PROTO_MESSAGE;

//<FUNCT>

#define FUNCT_BOOTLOADER 0x0

//<FUNCC> configuration packet

#define FUNCC_BOOT_INIT 0b0000000001 //för att initiera en programmering.

#define FUNCC_BOOT_ADDR 0b0000000010  //för att ändra adress.

#define FUNCC_BOOT_DONE 0b0000000101  //för att avsluta en programmering.

//<FUNCC> program packet

#define FUNCC_BOOT_PGM 0b0000000011 //för att indikera att detta är programdata som ska skrivas.

//<FUNCC> ack packet

#define FUNCC_BOOT_ACK 0b0000000100 //för att indikera att detta är en ACK.

#define MY_ID 0x78 

#define MY_NID 0x00

#define ADDRL_INDEX 0

#define ADDRH_INDEX 1

#define ADDRU_INDEX 2

#define RID_LOW_INDEX 4

#define RID_HIGH_INDEX 5

#define ERR_INDEX 4

//<ERR> 8 bitar feltyp

#define ERR_NO_ERROR 0x00 //= inget fel

#define ERR_ERROR 0x01 //= fel

typedef enum {PRIO_LOWEST=0,PRIO_LOW=1,PRIO_HIGH=2,PRIO_HIGEST=3} CAN_PRIORITY;

void canInit(void);

BOOL canSendMessage(CAN_PROTO_MESSAGE cm, CAN_PRIORITY prio);

#endif //CAN.h